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kamilritz 2019-12-18 13:47:27 +01:00 committed by Mathieu Bresciani
parent 1b0e137b8a
commit 94484f01ce
1 changed files with 12 additions and 13 deletions
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25
EKF/control.cpp
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@ -59,30 +59,29 @@ void Ekf::controlFusionModes()
_control_status.flags.tilt_align = true;
_control_status.flags.yaw_align = resetMagHeading(_mag_lpf.getState()); // TODO: is this needed?
// send alignment status message to the console
const char* height_source = nullptr;
if (_control_status.flags.baro_hgt) {
ECL_INFO("%llu: EKF aligned, (pressure height, IMU buf: %i, OBS buf: %i)",
(unsigned long long)_imu_sample_delayed.time_us, (int)_imu_buffer_length, (int)_obs_buffer_length);
height_source = "baro";
} else if (_control_status.flags.ev_hgt) {
ECL_INFO("%llu: EKF aligned, (EV height, IMU buf: %i, OBS buf: %i)",
(unsigned long long)_imu_sample_delayed.time_us, (int)_imu_buffer_length, (int)_obs_buffer_length);
height_source = "ev";
} else if (_control_status.flags.gps_hgt) {
ECL_INFO("%llu: EKF aligned, (GPS height, IMU buf: %i, OBS buf: %i)",
(unsigned long long)_imu_sample_delayed.time_us, (int)_imu_buffer_length, (int)_obs_buffer_length);
height_source = "gps";
} else if (_control_status.flags.rng_hgt) {
ECL_INFO("%llu: EKF aligned, (range height, IMU buf: %i, OBS buf: %i)",
(unsigned long long)_imu_sample_delayed.time_us, (int)_imu_buffer_length, (int)_obs_buffer_length);
height_source = "range";
} else {
ECL_ERR("%llu: EKF aligned, (unknown height, IMU buf: %i, OBS buf: %i)",
(unsigned long long)_imu_sample_delayed.time_us, (int)_imu_buffer_length, (int)_obs_buffer_length);
height_source = "unknown";
}
if(height_source){
ECL_INFO("%llu: EKF aligned, (%s height, IMU buf: %i, OBS buf: %i)",
(unsigned long long)_imu_sample_delayed.time_us, height_source, (int)_imu_buffer_length, (int)_obs_buffer_length);
}
}
}
// check for intermittent data (before pop_first_older_than)